posesSe3

Absolute Se3 poses associated with views in view set

Since R2026a

Syntax

sensorPoses = posesSe3(vSet)

Description

sensorPoses = posesSe3(vSet) returns a table of absolute Se3 poses associated with the views contained in the view set, vSet. Use this function when you need to perform code generation using Se3 poses.

Examples

Retrieve Absolute Poses from Image View Set

Load images into the workspace.

imageDir = fullfile(toolboxdir("vision"),"visiondata","structureFromMotion");
images = imageDatastore(imageDir);

Compute features for the first image.

I = im2gray(readimage(images,1));
pointsPrev = detectSURFFeatures(I);
[featuresPrev,pointsPrev] = extractFeatures(I,pointsPrev);

Create an image view set and add the extracted feature points to the image view set.

vSet = imageviewset;
vSet = addView(vSet,1,Points=pointsPrev);

Compute features and matches for the rest of the images.

for i = 2:numel(images.Files)
 I = im2gray(readimage(images,i));
 points = detectSURFFeatures(I);
 [features,points] = extractFeatures(I,points);
 vSet = addView(vSet,i,Features=features,Points=points);
 pairsIdx = matchFeatures(featuresPrev,features);
 vSet = addConnection(vSet,i-1,i,Matches=pairsIdx);
 featuresPrev = features;
end

Get the absolute poses.

sensorPoses = poses(vSet)

sensorPoses=5×2 table
    ViewId      AbsolutePose  
    ______    ________________

      1       1×1 rigidtform3d
      2       1×1 rigidtform3d
      3       1×1 rigidtform3d
      4       1×1 rigidtform3d
      5       1×1 rigidtform3d

Input Arguments

vSet — Image view set

imageviewset object

Image view set, specified as an imageviewset object.

Output Arguments

case when

sensorPoses — Absolute poses

two-column table

Absolute poses, returned as a two-column table. The table contains columns as described in this table.

Column	Description
ViewID	View identifier, returned as a positive integer. View identifiers are unique to a specific view.
AbsolutePose	Absolute pose of the view, returned as an se3 object.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

When generating code, the output argument sensorPoses is returned as a structure with fields ViewID and AbsolutePose.

GPU Code Generation
Generate CUDA® code for NVIDIA® GPUs using GPU Coder™.

Version History

Introduced in R2026a